I am new to ABB robot programming and hopefully someone can help me out with a problem I am having.
I have an ABB IRB6650 3.2m robot with S4C+ controller. I am in the process of programming the system and I have a problem I just can't seem to figure out.
My application is a pick and place. My tool is just a straight shaft centered on Axis 6. It is 15" long from the mounting flange of Axis 6.
Axis 5 is tipped downward and the mounting plate is to be kept parallel with the floor when moving (shaft is always pointing at the floor)……this is working fine. My issue is with Axis 6. When linear jogging, or doing a MOVEJ to a new X,Y,Z coordinate axis 6 rotates. I would like Axis 6 to NOT rotate when making these moves. It looks like Axis 6 is rotating to keep the tool parallel with the Y axis. My “Tool” is setup with a 15” offset for Z, so my TCP is calculated correctly.and it seems to be correct. The tool is centered on the Z axis, and is 15” long. I have Axis 6 limited so that it can only rotate +/- 25 degrees so that the energy chain and wires connected to the axis cannot be damaged.
So basically what I am looking for is when I move the robot I would like Axis 6 to stay at 0 degrees (Axis 5 still parallel with the floor). Is there a way that I can do that? Can I setup another coordinate system….if so what should it be? Is there a way to keep Axis 6 from rotating when moving the robot? Maybe I have to change something in my tool settings? Or maybe I can keep Axis 6 perpendicular to the rotation of Axis 1?
Attached is a basic sketch of what I am trying to do. (I hope it attached......)
Being new to the robot programming I imagine there is a simple solution to my problem……but I have worked on it for some time with no luck.
Thanks very much for the help.